Automatic polishing device and polishing method for small blades in steam turbine

Abstract

An automated polishing device and method for small and medium-sized turbine blades is disclosed, relating to the field of turbine blade polishing technology. The invention includes a receiving station, an external polishing station, a feeding platform, and an internal polishing station arranged sequentially. The receiving station holds blades to be processed, transported by an automated guided vehicle. The input end of the feeding platform connects to the output end of the external polishing station to receive blades that have undergone initial polishing. The output end of the feeding platform connects to the loading end of the internal polishing station to transport blades to be finely polished. The sequential arrangement of the receiving station, external polishing station, feeding platform, and internal polishing station forms a continuous and smooth automated processing line. Two robots are respectively positioned at two stations, working in conjunction with a flexible gripping mechanism mounted on a robotic arm. Through the first and second grippers, which can move closer or further apart and are horizontally adjustable, adaptive gripping of small and medium-sized blades of different specifications and sizes is achieved, eliminating the need for customized contour jigs and process handles, significantly improving the device's versatility.

Description

Technical Field

[0001] This invention relates to the field of turbine blade polishing technology, specifically to an automated polishing device and method for small turbine blades. Background Technology

[0002] As a core component of steam turbines, the surface polishing quality of turbine blades directly affects the overall operating efficiency and service life of the turbine. In the domestic steam turbine manufacturing industry, the polishing process of small and medium blades has long relied on traditional manual operation. During the operation, a large amount of metal dust is generated, which can be easily inhaled by operators and harm their health. At the same time, manual polishing depends on the operator's experience and skill level, resulting in problems such as low efficiency, poor consistency of blade surface roughness, and unstable processing accuracy.

[0003] To address the aforementioned issues, existing automated polishing solutions often employ a process handle-assisted positioning combined with a contouring fixture. This approach can only achieve automated polishing of the blade's air passage area and is only suitable for blades of fixed size and model. It cannot cover the full-area processing needs of small and medium-sized blades of different specifications and angles, resulting in poor versatility. Summary of the Invention

[0004] The purpose of this invention is to address the problem that the structure of using a process handle-assisted positioning combined with a contouring fixture is only suitable for blades of fixed size and model, and cannot cover the full-area processing needs of small and medium-sized blades of different specifications and angles. Therefore, this invention provides an automated polishing device and method for small and medium-sized turbine blades.

[0005] The technical solution of the present invention is: an automated polishing device for small and medium-sized turbine blades, comprising: a connecting station, an external polishing station, a feeding platform and an internal polishing station arranged in sequence, wherein the connecting station contains blades to be processed that are transported by an automated guided vehicle;

[0006] The input end of the feeding platform is connected to the output end of the outer throwing station to receive the blades that have completed the initial throwing of the outer throwing station. The output end of the feeding platform is connected to the loading end of the inner throwing station to transport the blades to be finely thrown to the inner throwing station. At the same time, it is used to temporarily store the finished blades that have completed the fine throwing of the inner throwing station, so as to realize the bidirectional flow and transfer positioning of blades between the outer throwing station and the inner throwing station.

[0007] The external polishing station is equipped with an external polishing component, which is used to polish one end of the blade to be processed.

[0008] The internal polishing station is equipped with an internal polishing component, which is used to polish the other end and the blade body of the blade to be processed.

[0009] Robots are respectively arranged in the external throwing station and the internal throwing station, and each of the two robots is equipped with a flexible gripping mechanism on its robotic arm.

[0010] The flexible clamping mechanism has a first gripper and a second gripper that can move closer to or further away from each other, and the first gripper can be adjusted to move horizontally relative to the second gripper.

[0011] The robotic arm of the robot located in the external throwing station is also equipped with a vision recognition device, which is electrically connected to the control systems of the two robots respectively.

[0012] Furthermore, the first gripper can also be circumferentially rotated relative to the second gripper.

[0013] Furthermore, the flexible clamping mechanism includes a first mounting block and a second mounting block, the first mounting block and the second mounting block being respectively connected to the driving end of the driving member, and the driving member being used to drive the first mounting block and the second mounting block to move closer to or further away from each other;

[0014] The first mounting block is provided with a guide rail, the length direction of which is perpendicular to the moving direction of the first mounting block. A slider is slidably connected to the guide rail. The first gripper is rotatably mounted on the slider, and the second gripper is fixedly mounted on the second mounting block.

[0015] Furthermore, the external polishing part includes a polishing electric spindle and a radial floating electric spindle.

[0016] Furthermore, the internal polishing component includes a grinding wheel and a sanding belt.

[0017] Furthermore, it also includes: a sanding belt storage room, which is located at the inner polishing station. The sanding belt storage room has multiple sanding belt stations, and each sanding belt station stores spare sanding belts and sanding belt tools.

[0018] Furthermore, a protective roller shutter door is installed between the sand belt storage area and the working area of ​​the inner throwing station.

[0019] A polishing method for an automated polishing device for small turbine blades as described in any of the above embodiments includes the following steps:

[0020] Step 1: The automated guided vehicle transports the blades to be processed to the transfer station;

[0021] Step 2: The visual recognition component takes pictures of the posture of the blades to be processed in the docking station and transmits the posture information to the control system of the outward throwing robot.

[0022] Step 3: The robot's robotic arm in the external polishing station picks up the blade crown of the blade to be processed and moves it to the external polishing part to complete the deburring and blunting treatment of the blade root. After processing, the robotic arm moves the blade to the unloading table.

[0023] Step 4: The visual recognition device takes pictures of the posture of the blades to be processed on the feeding table and transmits the posture information to the control system of the internal throwing station robot.

[0024] Step 5: The robotic arm of the internal polishing station grabs the blade root of the blade to be processed and moves it to the internal polishing part to complete the polishing of the blade crown rounded corner, conical surface and blade body. After processing, the robotic arm puts the blade back on the feeding table.

[0025] Step Six: The robotic arm of the external throwing station robot grabs the processed blades from the unloading platform and transfers them to the transfer station, where they are transported out by an automated guided vehicle.

[0026] Furthermore, the feeding platform is a two-way loading and unloading slide.

[0027] Furthermore, the grinding wheel for the internal polishing part is a grinding wheel with a diameter of 25.4 mm and a thickness of 3.175 mm or a grinding wheel with a diameter of 50.8 mm and a thickness of 6.35 mm.

[0028] Compared with the prior art, the present invention has the following advantages:

[0029] 1. The automated polishing device for small and medium-sized turbine blades provided by this invention forms a continuous and smooth automated processing line by sequentially arranging a connecting station, an external polishing station, a feeding platform, and an internal polishing station. The external and internal polishing stations are equipped with dedicated polishing parts to achieve division of labor for different parts of the blades, avoid cross-process interference, and improve the professionalism of processing. Two robots are arranged at two stations respectively, and with the flexible clamping mechanism mounted on the robotic arm, the first and second grippers, which can move closer or further apart and can be adjusted horizontally, can achieve adaptive clamping of small and medium-sized blades of different specifications and sizes. There is no need to customize contour jigs and process handles, which greatly improves the versatility of the device.

[0030] 2. The automated polishing device for small and medium-sized turbine blades provided by this invention has a robot at the external polishing station equipped with a vision recognition component, which can accurately acquire the blade position and posture information and synchronize it to the dual robot control system, realizing automatic positioning and grasping without human intervention. This effectively solves the problems of low efficiency, unstable precision, poor surface roughness consistency, and health hazards caused by metal dust in traditional manual polishing. At the same time, it can achieve full-area coverage processing of the blade, ensuring stable and reliable polishing quality.

[0031] 3. The automated polishing device for small turbine blades provided by this invention features a first gripper that is rotatably mounted to achieve circumferential angle adjustment. It integrates both movement and rotation adjustment functions, has a compact structure, high integration, small footprint, and convenient maintenance. The second gripper is fixedly mounted to provide a stable reference surface, forming a one-to-one coordination mode with the adjustable first gripper. This ensures both clamping and positioning accuracy and adjustment flexibility, making it suitable for blades of different thicknesses, widths, and installation angles. It effectively improves clamping stability and versatility, reduces fixture replacement costs and debugging time, and is suitable for batch continuous processing of blades of various specifications. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0033] Figure 2 yes Figure 1 The front view;

[0034] Figure 3 This is an enlarged view of the flexible clamping mechanism of the present invention.

[0035] In the diagram: 1. Connecting station; 2. External throwing station; 3. Unloading platform; 4. Internal throwing station; 5. Robot; 6. First gripper; 7. Second gripper; 8. First mounting block; 9. Second mounting block; 10. Guide rail; 11. Slider; 12. Sanding belt storage. Detailed Implementation

[0036] Specific implementation method one: Combining Figures 1 to 3This embodiment describes an implementation that includes a connecting station 1, an external polishing station 2, a feeding platform 3, and an internal polishing station 4 arranged sequentially. The connecting station 1 holds blades to be processed, transported by an automated guided vehicle. The input end of the feeding platform 3 connects to the output end of the external polishing station 2 to receive blades that have undergone initial polishing. The output end of the feeding platform 3 connects to the loading end of the internal polishing station 4 to transport blades to be finely polished to the internal polishing station 4. It also temporarily stores finished blades that have undergone fine polishing at the internal polishing station 4, enabling bidirectional flow and transfer positioning of blades between the external polishing station 2 and the internal polishing station 4. The external polishing station 2 is equipped with an external polishing component for polishing one end of the blades to be processed. The internal polishing station 4 is equipped with an internal polishing component. The inner polishing part is used to polish the other end and the blade body of the blade to be processed. The robot 5 is arranged in the outer polishing station 2 and the inner polishing station 4 respectively. Both robotic arms of the two robots 5 are equipped with flexible gripping mechanisms. The flexible gripping mechanisms have a first gripper 6 and a second gripper 7 that can move closer or further away from each other. The first gripper 6 can be adjusted horizontally relative to the second gripper 7. The robotic arm of the robot 5 located in the outer polishing station 2 is also equipped with a vision recognition component. The vision recognition component is electrically connected to the control system of the two robots 5 respectively. The vision recognition component can be a 3D camera. After the 3D camera takes a picture, it transmits the information to the control system of the two robots 5 respectively. The two grippers are symmetrically distributed in the initial state and the gripping part of the gripper is V-shaped.

[0037] The automated polishing device for small and medium-sized turbine blades in this embodiment is arranged in an orderly manner through a connecting station 1, an external polishing station 2, a feeding platform 3, and an internal polishing station 4, forming a continuous and smooth automated processing line. The external polishing station 2 and the internal polishing station 4 are equipped with dedicated polishing parts, realizing the division of labor for different parts of the blades, avoiding cross-process interference, and improving the processing professionalism. Two robots 5 are arranged at the two stations respectively, and together with the flexible clamping mechanism mounted on the robotic arm, the first gripper 6 and the second gripper 7, which can move closer or further away from each other and can be adjusted horizontally, realize adaptive clamping of small and medium-sized blades of different specifications and sizes, without the need for customized contour jigs and process handles, greatly improving the versatility of the device.

[0038] Specific Implementation Method Two: Combining Figure 3 This embodiment differs from Specific Embodiment 1 in that the first gripper 6 can also be circumferentially rotated relative to the second gripper 7. Both the horizontal and rotational adjustments of the first gripper 6 are non-powered. When gripping the blade, the second gripper 7 can automatically move according to different blade types, thereby adjusting to a position matching the blade. The second gripper 7 can flexibly adjust the gripping angle and posture to accommodate differences in blade installation angle, surface curvature, and structural shape, ensuring uniform force distribution and precise positioning at the gripping point, and avoiding scratches, deformation, or loosening of the blade surface due to improper gripping posture. Other components and connections are the same as in Specific Embodiment 1.

[0039] Specific implementation method three: Combining Figure 3 This embodiment differs from specific embodiment two in that the flexible clamping mechanism includes a first mounting block 8 and a second mounting block 9. The first mounting block 8 and the second mounting block 9 are respectively connected to the driving end of the driving member. The driving member is used to drive the first mounting block 8 and the second mounting block 9 to move closer or further apart. A guide rail 10 is provided on the first mounting block 8, and the length direction of the guide rail 10 is perpendicular to the moving direction of the first mounting block 8. A slider 11 is slidably connected to the guide rail 10. A first gripper 6 is rotatably mounted on the slider 11, and a second gripper 7 is fixedly mounted on the second mounting block 9. The driving member can be a motor or a bidirectional hydraulic cylinder, etc. The first gripper 6 relies on the guide rail 10 and the slider 11 to achieve... The horizontal movement adjustment, perpendicular to the opening and closing direction of the grippers, forms a two-dimensional adjustment space, allowing for precise alignment of the blade at the optimal clamping position. Simultaneously, the first gripper 6 is rotatable, enabling circumferential angle adjustment. Integrating both movement and rotation adjustment functions, the structure is compact, highly integrated, space-saving, and easy to maintain. The second gripper 7 is fixedly installed, providing a stable reference surface, forming a one-to-one coordination mode with the adjustable first gripper 6. This ensures both clamping and positioning accuracy while maintaining adjustment flexibility, adapting to blades of different thicknesses, widths, and installation angles. This effectively improves clamping stability and versatility, reduces fixture replacement costs and debugging time, and is suitable for batch continuous processing of multi-specification blades. Other components and connections are the same as in Specific Implementation Method Two.

[0040] Specific implementation method four: Combination Figure 1 This embodiment differs from Specific Embodiment 1 in that the external polishing part includes a polishing electric spindle and a radial floating electric spindle. The polishing electric spindle and the radial floating electric spindle are used for deburring and blunting the blade root. The polishing electric spindle provides high-speed, high-rigidity power output, achieving efficient deburring and blunting of the blade root, meeting basic processing efficiency requirements. The radial floating electric spindle has radial flexible floating capability, which can adaptively compensate for blade size errors, installation errors, and minor surface deformations, maintaining appropriate polishing pressure throughout the polishing process to avoid over-polishing, under-polishing, and blade damage caused by rigid contact. Other components and connections are the same as in Specific Embodiment 1.

[0041] Specific Implementation Method Five: Combining Figure 1This embodiment differs from Specific Embodiment 1 in that the internal polishing component includes a grinding wheel and an abrasive belt. The grinding wheel is used for polishing the blade crown rounded corners and conical surfaces, while the abrasive belt is used for polishing the blade body. The abrasive belt has good flexibility, a large contact area, and high polishing efficiency, making it suitable for polishing large curved surfaces such as the blade body. It can quickly remove machining marks and obtain a uniform and delicate surface quality. The grinding wheel has good rigidity and high precision, making it suitable for polishing confined spaces and high-precision areas such as blade crown rounded corners and conical surfaces. It can precisely control machining dimensions and surface roughness, ensuring that the machining accuracy of key parts meets the standards. Other components and connections are the same as in Specific Embodiment 1.

[0042] Specific Implementation Method Six: Combination Figure 1 This embodiment differs from Specific Embodiment 1 in that it also includes: a sanding belt storage 12, located at the inner polishing station 4. The sanding belt storage 12 has multiple sanding belt stations, each storing spare sanding belts and sanding belt fixtures. When the sanding belt in use is worn, damaged, or needs to be replaced with a different mesh size, the robot 5 can automatically retrieve the spare sanding belt and fixtures directly from the sanding belt storage 12, achieving unmanned automatic belt changing operations without manual downtime, significantly reducing downtime and improving equipment uptime and continuous operation capability. Other components and connections are the same as in Specific Embodiment 1.

[0043] Specific implementation method seven: Combining Figure 1 This embodiment differs from Specific Embodiment Six in that a protective roller shutter door is installed between the working areas of the abrasive belt storage 12 and the inner polishing station 4. The protective roller shutter door automatically opens and closes with the processing flow, without affecting normal belt changing and operation, while simultaneously improving the overall safety of the equipment, preventing operators from accidentally touching moving parts, and reducing the risk of safety accidents. Other components and connections are the same as in Specific Embodiment Six.

[0044] Specific implementation method eight: Combination Figures 1 to 3 This embodiment also provides a polishing method for the automated polishing device for small turbine blades in the above-described scheme, comprising the following steps:

[0045] Step 1: The automated guided vehicle transports the blades to be processed to transfer station 1;

[0046] Step 2: The visual recognition component takes pictures and positions the posture of the blade to be processed in docking station 1, and transmits the posture information to the control system of robot 5 in the external throwing station 2.

[0047] Step 3: The robotic arm of robot 5 in the outer polishing station 2 picks up the blade crown of the blade to be processed and transfers it to the outer polishing part to complete the deburring and blunting treatment of the blade root. After processing, the robotic arm transfers the blade to the unloading table 3.

[0048] Step 4: The visual recognition device takes a picture of the posture of the blade to be processed on the feeding table 3 and transmits the posture information to the control system of the robot 5 at the inner throwing station 4.

[0049] Step 5: The robotic arm of robot 5 at the inner polishing station 4 picks up the blade root to be processed and moves it to the inner polishing part to complete the polishing of the blade crown rounded corner, conical surface and blade body. After processing, the robotic arm puts the blade back on the feeding table 3.

[0050] Step Six: The robotic arm of robot 5 at the external polishing station 2 picks up the finished blades from the unloading platform 3 and transfers them to the transfer station 1, where they are transported out by an automated guided vehicle. Through the full-process design of automated guided vehicle loading, visual positioning, collaborative work between the two robots 5, step-by-step internal and external polishing, and automatic unloading, the blade polishing process is fully automated, unmanned, and standardized. Visual recognition is used for two positioning operations, calibrating the posture of the blades on both the transfer station 1 and the unloading platform 3 to eliminate positioning errors caused by material transfer and ensure the picking and processing accuracy of robot 5. External polishing station 2 is responsible for deburring and blunting the blade roots, while internal polishing station 4 is responsible for polishing the blade crown and body. The division of labor is clear and logical, avoiding process conflicts and repetitive processing. The blades flow orderly between stations via the unloading platform 3, and finally, robot 5 automatically returns them to the transfer station 1 for unloading, forming a complete processing loop. Other components and connections are the same as any one of the specific implementation methods one through seven.

[0051] Specific Implementation Method Nine: Combining Figure 1 This embodiment differs from specific embodiment eight in that the feeding platform 3 uses a bidirectional loading and unloading slide. This slide has bidirectional conveying and positioning functions, simultaneously meeting the bidirectional flow requirements of material discharge from the outer throwing station 2 and material loading from the inner throwing station 4, as well as material discharge from the inner throwing station 4 and material retrieval from the outer throwing station 2. This avoids station waiting and process blockage caused by unidirectional material conveying. Other components and connections are the same as in specific embodiment eight.

[0052] Specific Implementation Method Ten: Combining Figure 1 This embodiment differs from specific embodiment eight in that the grinding wheel used for the internal polishing part is either a 25.4mm diameter, 3.175mm thick grinding wheel or a 50.8mm diameter, 6.35mm thick grinding wheel. The smaller grinding wheel (25.4mm diameter, 3.175mm thickness) is suitable for fine polishing of blade crown rounded corners, narrow gaps, and high-precision areas, allowing for deep processing into complex structures while ensuring dimensional accuracy and surface quality. The larger grinding wheel (50.8mm diameter, 6.35mm thickness) is suitable for polishing slightly larger areas such as blade crown conical surfaces and transition regions, improving processing efficiency and surface uniformity. Other components and connections are the same as in specific embodiment eight.

[0053] The scope of this invention is not limited to the above-described embodiments; a combination of one or more specific embodiments can also achieve the purpose of the invention.

Claims

1. A device for automatic polishing of small vanes in a steam turbine, characterized in that include: The connecting station (1), the external throwing station (2), the unloading platform (3) and the internal throwing station (4) are arranged in sequence. The connecting station (1) contains the blades to be processed, which are transported by an automated guided vehicle. The input end of the feeding platform (3) is connected to the output end of the outer throwing station (2) to receive the blades that have been initially thrown by the outer throwing station (2). The output end of the feeding platform (3) is connected to the loading end of the inner throwing station (4) to transport the blades to be finely thrown to the inner throwing station (4) and to temporarily store the finished blades that have been finely thrown by the inner throwing station (4), thereby realizing the bidirectional flow and transfer positioning of blades between the outer throwing station (2) and the inner throwing station (4). The external polishing station (2) is equipped with an external polishing component, which is used to polish one end of the blade to be processed. The internal polishing station (4) is provided with an internal polishing component, which is used to polish the other end and the blade body of the blade to be processed. Robots (5) are respectively arranged in the outer throwing station (2) and the inner throwing station (4), and each of the two robots (5) is equipped with a flexible clamping mechanism on its robotic arm; The flexible clamping mechanism has a first gripper (6) and a second gripper (7) that can move closer to or further away from each other, and the first gripper (6) can be adjusted horizontally relative to the second gripper (7); The robotic arm of the robot (5) located in the external throwing station (2) is also equipped with a visual recognition component, which is electrically connected to the control systems of the two robots (5) respectively.

2. A device for automatic polishing of small blades in a steam turbine according to claim 1, characterized in that The first gripper (6) can also be circumferentially rotated relative to the second gripper (7).

3. A device for automatic polishing of small blades in a steam turbine according to claim 2, characterized in that The flexible clamping mechanism includes a first mounting block (8) and a second mounting block (9). The first mounting block (8) and the second mounting block (9) are respectively connected to the driving end of the driving member. The driving member is used to drive the first mounting block (8) and the second mounting block (9) to move closer to or further away from each other. The first mounting block (8) is provided with a guide rail (10), the length direction of the guide rail (10) is perpendicular to the moving direction of the first mounting block (8), a slider (11) is slidably connected on the guide rail (10), the first gripper (6) is rotatably mounted on the slider (11), and the second gripper (7) is fixedly mounted on the second mounting block (9).

4. A device for automatic polishing of small blades in a steam turbine according to claim 1, characterized in that The external polishing part includes a polishing electric spindle and a radial floating electric spindle.

5. A device for automatic polishing of small blades in steam turbines according to claim 1, characterized in that, The internal polishing components include a grinding wheel and a sanding belt.

6. A device for automatic polishing of small blades in steam turbines according to claim 5, characterized in that Also includes: A sanding belt storage (12) is set at the inner throwing station (4). The sanding belt storage (12) has multiple sanding belt stations, and each sanding belt station stores spare sanding belts and sanding belt tools.

7. A device for automatic polishing of small blades in steam turbines according to claim 6, characterized in that A protective roller shutter door is provided between the working areas of the sand belt storage (12) and the inner throwing station (4).

8. A polishing method for an automated polishing device for small turbine blades as described in any one of claims 1-7, characterized in that, Includes the following steps: Step 1: The automated guided vehicle transports the blades to be processed to the transfer station (1); Step 2: The visual recognition component takes pictures of the posture of the blade to be processed in the docking station (1) and transmits the posture information to the control system of the robot (5) at the external throwing station (2); Step 3: The robotic arm of the robot (5) in the outer polishing station (2) grabs the blade crown of the blade to be processed and transfers it to the outer polishing part to complete the deburring and blunting treatment of the blade root. After the processing is completed, the robotic arm transfers the blade to the feeding table (3). Step 4: The visual recognition component takes a picture of the posture of the blade to be processed on the feeding table (3) and transmits the posture information to the control system of the robot (5) at the inner throwing station (4); Step 5: In the inner polishing station (4), the robot (5) grabs the blade root of the blade to be processed and moves it to the inner polishing part to complete the polishing of the blade crown rounded corner, conical surface and blade body. After the processing is completed, the robot puts the blade back to the feeding table (3). Step 6: The robotic arm of the robot (5) at the external throwing station (2) grabs the processed blades on the feeding platform (3) and transfers them to the transfer station (1), where they are transported out by an automated guided vehicle.

9. The polishing method of the automated polishing device for small turbine blades according to claim 8, characterized in that, The feeding platform (3) is a two-way loading and unloading slide.

10. The polishing method of the automated polishing device for small turbine blades according to claim 8, characterized in that, For internal polishing parts, use a grinding wheel with a diameter of 25.4mm and a thickness of 3.175mm or a grinding wheel with a diameter of 50.8mm and a thickness of 6.35mm.

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